V2.4
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qiyongshuang
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/********************************** (C) COPYRIGHT *******************************
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* File Name : M6_SpeedLoop.c
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* Author : WCH
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* Version : V1.0.0
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* Date : 2026/04/23
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* Description : Speed loop processing, related protection treatment, power up and down control processing
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*********************************************************************************
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* Copyright (c) 2021 Nanjing Qinheng Microelectronics Co., Ltd.
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* Attention: This software (modified or not) and binary are used for
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* microcontroller manufactured by Nanjing Qinheng Microelectronics.
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*******************************************************************************/
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#include "M0_Control_Library.h"
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void SysTick_Handler(void) __attribute__((interrupt("WCH-Interrupt-fast")));
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static uint8_t Speed_Sample_PID_CNT = SPEED_SAMPLE_PID_PERIOD;
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/******************************************************************************
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* Function Name : SysTick_Handler
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* Description : Speed loop processing interrupt
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* Input : None
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* Output : None
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* Return : None
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******************************************************************************/
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void SysTick_Handler(void)
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{
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Speed_Sample_PID_CNT --;
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Time_Delay_Process();
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Led_Operation(&LED_M);
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Poweroperation_Process(&SpeedRamp_M,&ADC_M,&Powerctr_M,&RunningStatus_M,&(Mpid_M.Speed),\
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MLBG_M.Cal_Struc.Angspeed_Aver2);
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NTCSample(&Tempctl_M,ADC1);
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Coldkeycheck(&Key_M);
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Tempkeycheck(&Key_M);
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ACKEY_CHECK(&Key_M);
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if(RunningStatus_M == IDLE)
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PSC_Process(&Operation_M);
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if((Operation_M.PSC.Mark == FALSE)&&(Operation_M.PSC.Process ==TRUE))
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Speedkeycheck_Recover(&Key_M,&SpeedRamp_M);
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Event_1ms_Process(&Emanager_M);
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ACZerocross_Process(&Tempctl_M,&Key_M,&Triac_ctl);
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if (Speed_Sample_PID_CNT == 0 )
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{
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Speed_Sample_PID_CNT = SPEED_SAMPLE_PID_PERIOD;
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Buffer_Update(&(LBG_SpeedBuffer_M[0]), &(MLBG_M.SpeedBuffPara), MLBG_M.Cal_Struc.Angspeed_Inst);
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MLBG_M.Cal_Struc.Angspeed_Aver1 = LPF_1st_Process(&(MLBG_M.Cal_Struc.SpeedLPF1st_M),\
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MLBG_M.Cal_Struc.Angspeed_Inst);
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LBG_Status_M.Reliable = Speed_Reliable_Verify(&(MLBG_M.SpeedBuffPara),&LBG_SpeedBuffer_M[0],\
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MLBG_M.Cal_Struc.Angspeed_Aver1,LBG_Status_M.VarianceThresh);
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switch(RunningStatus_M)
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{
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case START:
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if(_IQabs(InjStart_M.RampInjSpeedTarget)<_IQ(0.2))
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LBG_Status_M.Reliable = TRUE;
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Speed_Converged_Verify1(InjStart_M.RampInjSpeedRef, &MLBG_M, &LBG_Status_M);
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break;
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case RUN:
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if(SpeedRamp_M.Break == FALSE)
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{
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if((Key_M.Skeystop == FALSE)&&(Operation_M.Faultstop == FALSE)&&(Powerctr_M.Poweron == TRUE))
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{
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VDC_Limitspeed(&SpeedRamp_M,&ADC_M,&Powerctr_M);
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}
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if(Powerctr_M.Poweron == TRUE)
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Speed_Ramp_Process(&SpeedRamp_M);
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else
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Poweroff_Speed_Ramp_Process(&SpeedRamp_M);
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if(STARTUP_DIRECTION==1)
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SpeedRamp_M.Aftrampcom = SpeedRamp_M.Aftramp + Powercom_M.Speedcom;
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else if(STARTUP_DIRECTION==-1)
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SpeedRamp_M.Aftrampcom = SpeedRamp_M.Aftramp - Powercom_M.Speedcom;
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Speed_Stable_Verify(&LBG_Status_M, MLBG_M.Cal_Struc.Angspeed_Aver1);
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if(LBG_Status_M.Stable==FALSE)
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Protection_SetFault(SPEED_ABNORMAL_M);
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Motor_Stall_Verify1(SpeedRamp_M.Aftramp, &MLBG_M, MStruc_M.CRef2R.cq,&LBG_Status_M);
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if(LBG_Status_M.Stall==TRUE)
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Protection_SetFault(MOTOR_STALL_M);
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MStruc_M.CRef2R.cq = PID_Calculaion_Delta (SpeedRamp_M.Aftrampcom, MLBG_M.Cal_Struc.Angspeed_Aver2, &(Mpid_M.Speed));
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if((DCurrProcess_M.Stage == 1)&&(_IQabs(MStruc_M.CRef2R.cd) <= DCurrProcess_M.Target1))
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Dcurr_Process_Init(&DCurrProcess_M,2);
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MStruc_M.CRef2R.cd = Dcurr_Process(&DCurrProcess_M, MLBG_M.Cal_Struc.Angspeed_Aver1, MStruc_M.CRef2R.cd);
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}
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break;
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default:
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break;
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}
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}
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DCOvervolt_Protection(ADC_M.DCVoltAver, &DCBusProtecion_M);
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DCUndervolt_Protection1(ADC_M.DCVoltAver, &DCBusProtecion_M,&Powerctr_M);
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NTC_Protection(&Tempctl_M,Tempctl_M.TempAver);
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SysTick->SR &= ~(1 << 0);
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}
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/************************************************************************************************************
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* Function Name : Systick_Init
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* Description : Systick Init
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* Input : NewState - ENABLE or DISABLE.
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* Output : None
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* Return : None
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*************************************************************************************************************/
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void Systick_Init(void)
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{
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SysTick->CTLR =0;
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SysTick->CMP =0;
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SysTick->SR &= ~(1 << 0);
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SysTick->CNT = 0;
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SysTick->CMP = TIMER_PERIDO_SYSTICK;
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SysTick->CTLR |=(1 << 1)|(1 << 3)|(1 << 5);
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}
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/************************************************************************************************************
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* Function Name : SYS_TIM_Cmd
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* Description : SysTick Enable
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* Input : NewState - ENABLE or DISABLE.
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* Output : None
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* Return : None
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*************************************************************************************************************/
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void SYS_TIM_Cmd(FunctionalState NewState)
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{
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if(NewState != DISABLE)
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{
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SysTick->CTLR |= TIM_CEN;
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}
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else
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{
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SysTick->CTLR &= (uint16_t)(~((uint16_t)TIM_CEN));
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}
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}
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